SOME INTROTEXT

Please install the system according to the instructions here: https://ai.uni-bremen.de/wiki/software/ros/installation

Before you start workin on the assignment, make sure to have completed the 'beginner level' tutorials from http://www.ros.org/wiki/ROS/Tutorials

Please note, that we expect you to be familiar with at least the rosbuild/c++ versions of the tutorials.

We have created a git repository for the code that you will develop. You can find it at https://github.com/ai-seminar/group-knowledge and add it to your ROS workspace with

rosws set group_knowledge --git https://github.com/ai-seminar/group-manipulation.git
rosws update
source ~/.bashrc

We will use a customized lightweight gazebo setup to develop and test our code in simulation. In this step of the assignment you are supposed to familiarize yourself with basic ros dependencies and launch-files. Proceed here.

As a first-step you will use the standard ROS arm navigation functionalities to move the arms of the PR2. TO do so, you need to write and compile your first node, use action interfaces, and load parametersfrom the parameter server.